STS

• AMEROB

  Advanced Mechatronics and Robotics
• Application of Automation

  • Minimize human intervention
  • Provide consistencies
• Automation

  The use of various control systems for operating equipment in various processes with minimal human intervention
• Components of Automation

  • Mechatronics
  • Robotics
• Mechatronics


  A multidisciplinary field of science that includes a combination of Mechanical, Electrical, Electronics, Computer and Control Engineering
• The term "mechatronics" was coined by Tetsuro Mori, the senior engineer of the Japanese company Yaskawa in 1969
• Industrial robot


  A prime example of a mechatronics system; It includes aspects of electronics, mechanics, and computing to do its day-to-day jobs
• Elements of Mechatronics


  • Electro-mechanical (sensors and actuators)
  • Electrical and Electronics
  • Control interface/computing hardware elements
• Actuator


  A type of motor for moving or controlling a mechanism or system, operated by a source of energy and converts that energy into some kind of motion
• Actuator: Solenoid


  • Converts energy into linear motion
  • Magnetic coil and movable armature (iron)
  • Coil produces magnetic field that moves the armature
• Actuator: Stepper Motor


  • Special DC motor
  • Align shaft with electromagnets
  • Precise stepwise motion
• Actuator: AC Motor


  • Rotating electro-magnetic field (stator)
  • Rotor follows magnetic field
  • Usually high-power applications
• Actuator: Hydraulic


  • Reservoir and pump
  • Pressure difference controlled by hydraulic valve
  • Linear motion of hydraulic cylinder
• Sensors: Proximity


  • Detection of change of capacity in the vicinity of the sensor
  • Metallic and non-metallic objects
  • Inductive and photo-electric proximity sensors
• Sensors: Flow


  • Speed of paddle wheel (impeller) increases with flow rate
  • Other flow sensors: magnetic, pressure-based, ultrasonic
• Robotics

  An interdisciplinary branch of engineering and science which consists of Mechanical, Electrical, Electronics, and Computer Engineering
• Types of Robots According to its Built

  • Manipulator
  • Legged
  • Wheeled
  • Autonomous Underwater Vehicle
  • Autonomous Aerial Vehicle
• Types of Industrial Robots

  • Articulated
  • Cartesian
  • Cylindrical
  • Polar
  • SCARA
  • Delta
• Articulated Robots


  • This robot design features rotary joints and can range from simple two joint structures to 10 or more joints
  • The arm is connected to the base with a twisted joint
• Five Major Components of a Robot

  • Manipulator
  • End effector
  • Controller
  • Sensors
• Recent advancements in robotics & mechatronics include mobility (crawl, roll, fly, walk), power assist or support the strength limitation of people, and humanoid
• Joseph Jacquard invents a textile machine that is operated by punch cards


  1801
• In the US Seward Babbitt designed a motorized crane with a gripper to remove ingots from a furnace


  1892
• First reference to the word robot appears in a play opening in London entitled "Rossum's Universal Robots". The play was written by Czechoslovakian Karel Capek introduces the word robot from the Czech robota meaning serf or subservient labor


  1921
• Isaac Asimov's science fiction writing introduces robots designed for humanity and work safely. He formulates the "Three Laws of Robotics"


  1939
• George David patents a general purpose playback device for controlling machines

  1946
• Norbert Wiener, a professor of Massachusetts Institute of Technology(MIT) publishes Cybernetics, a book that describes the concept of communications and control in electronic, mechanical and biological systems

  1948
• A tele-operator equipped articulated arm is designed by Raymond Goertz for the Atomic Energy Commission


  1951
• The first programmable robot is designed by George Devol who coined the term universal automation. Devol was joined by Joseph Engelberger in 1956 and shortened the name to Unimation and formed the first successful robot manufacturing company


  1954
• Robot


  A reprogrammable, multifunctional manipulator designed to move parts, materials, tools or special devices through variable programmed motions for the performance of a variety of different tasks
• Three Laws of Robotics, Asimov

  • A Robot may not injure a human being,or through inaction,allow a human being to come to harm
  • A robot must obey orders given to it by human beings except where such orders would conflict with the first law
  • A robot must protect its own existence as long as such protection does not conflict with the first and second law
• Components of a Robot

  • Communicator
  • Control Computer/Controller (Brain)
  • End Effectors (Hands)
  • Manipulator (Arm)
  • Power Supply
  • Sensor (Eye)
  • Actuator
• Pneumatic Drive

  • Reserved for smaller robots which are limited to simple, fast cycle and pick and place operation
  • Have two to four degrees of freedom
  • Quick response
  • Lower initial and operating cost than a hydraulic system
  • Accurate positioning and velocity control are impossible (requires mechanical stops)
  • Weak force capability
• Hydraulic Drive

  • Used in larger robots
  • Generally heavy and require large floor space and heavy floor loadings
  • Great force capability
  • Great holding strength when stopped (will not sag)
  • Intrinsic safe in flammable environments such as paintings
  • Accurate servo type positioning and velocity control can be achieved
  • Messy-tends to leak oil even in the periods when the robot is not in motion
  • High initial and operating costs
• Electric Drive

  • Good for robots in light duty, precision applications but does not offer the speed and strength of a hydraulic drive
  • Used in electronic assembly where precision is required
  • Clean-no oil leaks
• Degrees of Freedom

  • Refers to different axes of motion of robotic arm
  • The movement about one axis is hardware independent of movement about any other axis
• Degrees of Freedom

  • Waist motion or Arm sweep
  • Shoulder or Vertical Motion
  • Elbow extension
  • Wrist Motion
• Robots Wrist Rotation

  • Pitch Axis (Describes the wrists rotational movement up and down)
  • Yaw Axis (Describes the wrist angular movement from the left side to the right side)
  • Roll Axis (Describes the rotation around the end of the wrist)
• Non-Servo Control

  • Movement of the robots axes is stopped by a hard mechanical stop placed in the travel path
  • Non-self correcting and not-self regulating
• Servo Control

  • The servo control allows the mechanics of the robot to communicate with the electronics of the controller
  • Equipped with the feedback sensors so that the controllers knows the exact position of the end effector at all times